diff --git a/src/xrt/auxiliary/math/m_relation_history.cpp b/src/xrt/auxiliary/math/m_relation_history.cpp
index aa2d913ca..d7bf2769e 100644
--- a/src/xrt/auxiliary/math/m_relation_history.cpp
+++ b/src/xrt/auxiliary/math/m_relation_history.cpp
@@ -17,7 +17,6 @@
 #include "math/m_api.h"
 #include "math/m_predict.h"
 #include "math/m_vec3.h"
-#include "math/m_filter_one_euro.h"
 
 #include "os/os_time.h"
 #include "os/os_threading.h"
@@ -48,20 +47,15 @@ static constexpr size_t BufLen = 4096;
 
 struct m_relation_history
 {
-	mutable os::Mutex mutex;
-
 	HistoryBuffer<struct relation_history_entry, BufLen> impl;
-
-	struct m_relation_history_filters *motion_vector_filters;
+	mutable os::Mutex mutex;
 };
 
+
 void
-m_relation_history_create(struct m_relation_history **rh_ptr, struct m_relation_history_filters *motion_vector_filters)
+m_relation_history_create(struct m_relation_history **rh_ptr)
 {
 	auto ret = std::make_unique<m_relation_history>();
-
-	ret->motion_vector_filters = motion_vector_filters;
-
 	*rh_ptr = ret.release();
 }
 
@@ -195,6 +189,7 @@ m_relation_history_estimate_motion(struct m_relation_history *rh,
                                    int64_t timestamp,
                                    struct xrt_space_relation *out_relation)
 {
+
 	int64_t last_time_ns;
 	struct xrt_space_relation last_relation;
 	if (!m_relation_history_get_latest(rh, &last_time_ns, &last_relation)) {
@@ -210,63 +205,24 @@ m_relation_history_estimate_motion(struct m_relation_history *rh,
 	// Brevity
 	enum xrt_space_relation_flags &outf = out_relation->relation_flags;
 
-	// update the filters if we're doing filtered motion vectors
-	if (rh->motion_vector_filters) {
-		struct xrt_vec3 previous_position = rh->motion_vector_filters->position.prev_y;
-		struct xrt_quat previous_orientation = rh->motion_vector_filters->orientation.prev_y;
-
-		struct xrt_vec3 new_position;
-		struct xrt_quat new_orientation;
 
-		if (in_relation->relation_flags & XRT_SPACE_RELATION_POSITION_VALID_BIT) {
-			m_filter_euro_vec3_run(&rh->motion_vector_filters->position, timestamp,
-			                       &in_relation->pose.position, &new_position);
-		}
-
-		if (in_relation->relation_flags & XRT_SPACE_RELATION_ORIENTATION_VALID_BIT) {
-			m_filter_euro_quat_run(&rh->motion_vector_filters->orientation, timestamp,
-			                       &in_relation->pose.orientation, &new_orientation);
-		}
+	if (tmp_flags & XRT_SPACE_RELATION_POSITION_VALID_BIT) {
+		outf = (enum xrt_space_relation_flags)(outf | XRT_SPACE_RELATION_POSITION_VALID_BIT);
+		outf = (enum xrt_space_relation_flags)(outf | XRT_SPACE_RELATION_POSITION_TRACKED_BIT);
 
-		// @note this looks subtly wrong, where technically in valid sequences of relations
-		//       (valid, invalid, valid) we won't produce a filtered pose, but this is intentional.
-		if (tmp_flags & XRT_SPACE_RELATION_POSITION_VALID_BIT) {
-			outf = (enum xrt_space_relation_flags)(outf | XRT_SPACE_RELATION_POSITION_VALID_BIT);
-			outf = (enum xrt_space_relation_flags)(outf | XRT_SPACE_RELATION_POSITION_TRACKED_BIT);
+		outf = (enum xrt_space_relation_flags)(outf | XRT_SPACE_RELATION_LINEAR_VELOCITY_VALID_BIT);
 
-			outf = (enum xrt_space_relation_flags)(outf | XRT_SPACE_RELATION_LINEAR_VELOCITY_VALID_BIT);
-
-			out_relation->linear_velocity = (new_position - previous_position) / dt;
-		}
-
-		if (tmp_flags & XRT_SPACE_RELATION_ORIENTATION_VALID_BIT) {
-			outf = (enum xrt_space_relation_flags)(outf | XRT_SPACE_RELATION_ORIENTATION_VALID_BIT);
-			outf = (enum xrt_space_relation_flags)(outf | XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT);
-
-			outf = (enum xrt_space_relation_flags)(outf | XRT_SPACE_RELATION_ANGULAR_VELOCITY_VALID_BIT);
-
-			math_quat_finite_difference(&previous_orientation, &new_orientation, dt,
-			                            &out_relation->angular_velocity);
-		}
-	} else {
-		if (tmp_flags & XRT_SPACE_RELATION_POSITION_VALID_BIT) {
-			outf = (enum xrt_space_relation_flags)(outf | XRT_SPACE_RELATION_POSITION_VALID_BIT);
-			outf = (enum xrt_space_relation_flags)(outf | XRT_SPACE_RELATION_POSITION_TRACKED_BIT);
-
-			outf = (enum xrt_space_relation_flags)(outf | XRT_SPACE_RELATION_LINEAR_VELOCITY_VALID_BIT);
-
-			out_relation->linear_velocity = (in_relation->pose.position - last_relation.pose.position) / dt;
-		}
+		out_relation->linear_velocity = (in_relation->pose.position - last_relation.pose.position) / dt;
+	}
 
-		if (tmp_flags & XRT_SPACE_RELATION_ORIENTATION_VALID_BIT) {
-			outf = (enum xrt_space_relation_flags)(outf | XRT_SPACE_RELATION_ORIENTATION_VALID_BIT);
-			outf = (enum xrt_space_relation_flags)(outf | XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT);
+	if (tmp_flags & XRT_SPACE_RELATION_ORIENTATION_VALID_BIT) {
+		outf = (enum xrt_space_relation_flags)(outf | XRT_SPACE_RELATION_ORIENTATION_VALID_BIT);
+		outf = (enum xrt_space_relation_flags)(outf | XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT);
 
-			outf = (enum xrt_space_relation_flags)(outf | XRT_SPACE_RELATION_ANGULAR_VELOCITY_VALID_BIT);
+		outf = (enum xrt_space_relation_flags)(outf | XRT_SPACE_RELATION_ANGULAR_VELOCITY_VALID_BIT);
 
-			math_quat_finite_difference(&last_relation.pose.orientation, &in_relation->pose.orientation, dt,
-			                            &out_relation->angular_velocity);
-		}
+		math_quat_finite_difference(&last_relation.pose.orientation, &in_relation->pose.orientation, dt,
+		                            &out_relation->angular_velocity);
 	}
 
 	out_relation->pose = in_relation->pose;
diff --git a/src/xrt/auxiliary/math/m_relation_history.h b/src/xrt/auxiliary/math/m_relation_history.h
index 02556e8ac..2faee0cb0 100644
--- a/src/xrt/auxiliary/math/m_relation_history.h
+++ b/src/xrt/auxiliary/math/m_relation_history.h
@@ -13,8 +13,6 @@
 
 #include "xrt/xrt_defines.h"
 
-#include "math/m_filter_one_euro.h"
-
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -44,19 +42,13 @@ enum m_relation_history_result
 	M_RELATION_HISTORY_RESULT_REVERSE_PREDICTED, //!< The desired timestamp was older than the oldest entry
 };
 
-struct m_relation_history_filters
-{
-	struct m_filter_euro_vec3 position;
-	struct m_filter_euro_quat orientation;
-};
-
 /*!
  * Creates an opaque relation_history object.
  *
  * @public @memberof m_relation_history
  */
 void
-m_relation_history_create(struct m_relation_history **rh, struct m_relation_history_filters *motion_vector_filters);
+m_relation_history_create(struct m_relation_history **rh);
 
 /*!
  * Pushes a new pose to the history.
@@ -167,7 +159,7 @@ private:
 
 public:
 	// clang-format off
-	RelationHistory(struct m_relation_history_filters *motion_vector_filters) noexcept { m_relation_history_create(&mPtr, motion_vector_filters); }
+	RelationHistory() noexcept { m_relation_history_create(&mPtr); }
 	~RelationHistory() { m_relation_history_destroy(&mPtr); }
 	// clang-format on
 
diff --git a/src/xrt/auxiliary/tracking/t_tracker_slam.cpp b/src/xrt/auxiliary/tracking/t_tracker_slam.cpp
index 9c8fa5782..0059a7e59 100644
--- a/src/xrt/auxiliary/tracking/t_tracker_slam.cpp
+++ b/src/xrt/auxiliary/tracking/t_tracker_slam.cpp
@@ -286,14 +286,14 @@ struct TrackerSlam
 
 	//! Type of prediction to use
 	t_slam_prediction_type pred_type;
-	u_var_combo pred_combo;             //!< UI combo box to select @ref pred_type
-	RelationHistory slam_rels{nullptr}; //!< A history of relations produced purely from external SLAM tracker data
-	int dbg_pred_every = 1;             //!< Skip X SLAM poses so that you get tracked mostly by the prediction algo
-	int dbg_pred_counter = 0;           //!< SLAM pose counter for prediction debugging
-	struct os_mutex lock_ff;            //!< Lock for gyro_ff and accel_ff.
-	struct m_ff_vec3_f32 *gyro_ff;      //!< Last gyroscope samples
-	struct m_ff_vec3_f32 *accel_ff;     //!< Last accelerometer samples
-	vector<u_sink_debug> ui_sink;       //!< Sink to display frames in UI of each camera
+	u_var_combo pred_combo;         //!< UI combo box to select @ref pred_type
+	RelationHistory slam_rels{};    //!< A history of relations produced purely from external SLAM tracker data
+	int dbg_pred_every = 1;         //!< Skip X SLAM poses so that you get tracked mostly by the prediction algo
+	int dbg_pred_counter = 0;       //!< SLAM pose counter for prediction debugging
+	struct os_mutex lock_ff;        //!< Lock for gyro_ff and accel_ff.
+	struct m_ff_vec3_f32 *gyro_ff;  //!< Last gyroscope samples
+	struct m_ff_vec3_f32 *accel_ff; //!< Last accelerometer samples
+	vector<u_sink_debug> ui_sink;   //!< Sink to display frames in UI of each camera
 
 	//! Used to correct accelerometer measurements when integrating into the prediction.
 	//! @todo Should be automatically computed instead of required to be filled manually through the UI.
diff --git a/src/xrt/auxiliary/util/u_tracked_imu_3dof.c b/src/xrt/auxiliary/util/u_tracked_imu_3dof.c
index 719a6a6a8..7ef219953 100644
--- a/src/xrt/auxiliary/util/u_tracked_imu_3dof.c
+++ b/src/xrt/auxiliary/util/u_tracked_imu_3dof.c
@@ -57,7 +57,7 @@ u_tracked_imu_3dof_create(struct xrt_frame_context *xfctx, struct u_tracked_imu_
 {
 	struct u_tracked_imu_3dof *dof3 = U_TYPED_CALLOC(struct u_tracked_imu_3dof);
 
-	m_relation_history_create(&dof3->rh, NULL);
+	m_relation_history_create(&dof3->rh);
 
 	m_imu_3dof_init(&dof3->fusion, M_IMU_3DOF_USE_GRAVITY_DUR_300MS);
 	m_imu_3dof_add_vars(&dof3->fusion, debug_var_root, "");
diff --git a/src/xrt/drivers/realsense/rs_ddev.c b/src/xrt/drivers/realsense/rs_ddev.c
index 8e2ee2e09..04284e5af 100644
--- a/src/xrt/drivers/realsense/rs_ddev.c
+++ b/src/xrt/drivers/realsense/rs_ddev.c
@@ -432,7 +432,7 @@ rs_ddev_create(int device_idx)
 {
 	struct rs_ddev *rs = U_DEVICE_ALLOCATE(struct rs_ddev, U_DEVICE_ALLOC_TRACKING_NONE, 1, 0);
 
-	m_relation_history_create(&rs->relation_hist, NULL);
+	m_relation_history_create(&rs->relation_hist);
 
 	rs->enable_mapping = true;
 	rs->enable_pose_jumping = true;
diff --git a/src/xrt/drivers/sample/sample_hmd.c b/src/xrt/drivers/sample/sample_hmd.c
index ddf91e9c5..744573efc 100644
--- a/src/xrt/drivers/sample/sample_hmd.c
+++ b/src/xrt/drivers/sample/sample_hmd.c
@@ -195,7 +195,7 @@ sample_hmd_create(void)
 	snprintf(hmd->base.str, XRT_DEVICE_NAME_LEN, "Sample HMD");
 	snprintf(hmd->base.serial, XRT_DEVICE_NAME_LEN, "Sample HMD S/N");
 
-	m_relation_history_create(&hmd->relation_hist, NULL);
+	m_relation_history_create(&hmd->relation_hist);
 
 	// Setup input.
 	hmd->base.name = XRT_DEVICE_GENERIC_HMD;
diff --git a/src/xrt/drivers/steamvr_lh/device.cpp b/src/xrt/drivers/steamvr_lh/device.cpp
index ceffc3857..7584f8d75 100644
--- a/src/xrt/drivers/steamvr_lh/device.cpp
+++ b/src/xrt/drivers/steamvr_lh/device.cpp
@@ -197,7 +197,7 @@ Device::~Device()
 
 Device::Device(const DeviceBuilder &builder) : xrt_device({}), ctx(builder.ctx), driver(builder.driver)
 {
-	m_relation_history_create(&relation_hist, NULL);
+	m_relation_history_create(&relation_hist);
 	std::strncpy(this->serial, builder.serial, XRT_DEVICE_NAME_LEN - 1);
 	this->serial[XRT_DEVICE_NAME_LEN - 1] = 0;
 	this->tracking_origin = ctx.get();
diff --git a/src/xrt/drivers/survive/survive_driver.c b/src/xrt/drivers/survive/survive_driver.c
index 62791e764..4781642fa 100644
--- a/src/xrt/drivers/survive/survive_driver.c
+++ b/src/xrt/drivers/survive/survive_driver.c
@@ -944,7 +944,7 @@ _create_hmd_device(struct survive_system *sys, const struct SurviveSimpleObject
 	survive->base.tracking_origin = &sys->base;
 
 	SURVIVE_INFO(survive, "survive HMD present");
-	m_relation_history_create(&survive->relation_hist, NULL);
+	m_relation_history_create(&survive->relation_hist);
 
 
 	size_t idx = 0;
@@ -1093,7 +1093,7 @@ _create_controller_device(struct survive_system *sys,
 	int outputs = 1;
 	struct survive_device *survive = U_DEVICE_ALLOCATE(struct survive_device, flags, inputs, outputs);
 	survive->ctrl.config = *config;
-	m_relation_history_create(&survive->relation_hist, NULL);
+	m_relation_history_create(&survive->relation_hist);
 
 	sys->controllers[idx] = survive;
 	survive->sys = sys;
diff --git a/src/xrt/drivers/vive/vive_controller.c b/src/xrt/drivers/vive/vive_controller.c
index 870e580d5..b38560db1 100644
--- a/src/xrt/drivers/vive/vive_controller.c
+++ b/src/xrt/drivers/vive/vive_controller.c
@@ -1063,7 +1063,7 @@ vive_controller_create(struct os_hid_device *controller_hid, enum watchman_gen w
 	d->watchman_gen = watchman_gen;
 
 	m_imu_3dof_init(&d->fusion.i3dof, M_IMU_3DOF_USE_GRAVITY_DUR_20MS);
-	m_relation_history_create(&d->fusion.relation_hist, NULL);
+	m_relation_history_create(&d->fusion.relation_hist);
 	int ret = os_mutex_init(&d->fusion.mutex);
 	if (ret != 0) {
 		VIVE_ERROR(d, "Failed to init 3dof mutex");
diff --git a/src/xrt/drivers/vive/vive_device.c b/src/xrt/drivers/vive/vive_device.c
index d247553fb..e975058c5 100644
--- a/src/xrt/drivers/vive/vive_device.c
+++ b/src/xrt/drivers/vive/vive_device.c
@@ -1081,7 +1081,7 @@ vive_device_create(struct os_hid_device *mainboard_dev,
 	    (enum u_device_alloc_flags)(U_DEVICE_ALLOC_HMD | U_DEVICE_ALLOC_TRACKING_NONE);
 	struct vive_device *d = U_DEVICE_ALLOCATE(struct vive_device, flags, 1, 0);
 
-	m_relation_history_create(&d->fusion.relation_hist, NULL);
+	m_relation_history_create(&d->fusion.relation_hist);
 
 	size_t idx = 0;
 	d->base.hmd->blend_modes[idx++] = XRT_BLEND_MODE_OPAQUE;
diff --git a/src/xrt/drivers/xreal_air/xreal_air_hmd.c b/src/xrt/drivers/xreal_air/xreal_air_hmd.c
index 2bd7d0b91..3e50b0829 100644
--- a/src/xrt/drivers/xreal_air/xreal_air_hmd.c
+++ b/src/xrt/drivers/xreal_air/xreal_air_hmd.c
@@ -1210,7 +1210,7 @@ xreal_air_hmd_create_device(struct os_hid_device *sensor_device,
 	u_distortion_mesh_set_none(&hmd->base);
 
 	m_imu_3dof_init(&hmd->fusion, M_IMU_3DOF_USE_GRAVITY_DUR_20MS);
-	m_relation_history_create(&hmd->relation_hist, NULL);
+	m_relation_history_create(&hmd->relation_hist);
 
 	hmd->static_id = 0;
 	hmd->display_on = false;
diff --git a/src/xrt/tracking/hand/t_hand_tracking_async.c b/src/xrt/tracking/hand/t_hand_tracking_async.c
index 45b389296..0102a7589 100644
--- a/src/xrt/tracking/hand/t_hand_tracking_async.c
+++ b/src/xrt/tracking/hand/t_hand_tracking_async.c
@@ -333,7 +333,7 @@ t_hand_tracking_async_default_create(struct xrt_frame_context *xfctx, struct t_h
 	hta->provider = sync;
 
 	for (int i = 0; i < 2; i++) {
-		m_relation_history_create(&hta->present.relation_hist[i], NULL);
+		m_relation_history_create(&hta->present.relation_hist[i]);
 	}
 
 	/*!
diff --git a/tests/tests_history_buf.cpp b/tests/tests_history_buf.cpp
index 9b018fe60..d39ec39da 100644
--- a/tests/tests_history_buf.cpp
+++ b/tests/tests_history_buf.cpp
@@ -31,7 +31,7 @@ TEST_CASE("m_relation_history")
 {
 	m_relation_history *rh = nullptr;
 
-	m_relation_history_create(&rh, nullptr);
+	m_relation_history_create(&rh);
 	SECTION("empty buffer")
 	{
 		xrt_space_relation out_relation = XRT_SPACE_RELATION_ZERO;
@@ -125,7 +125,7 @@ TEST_CASE("m_relation_history")
 TEST_CASE("RelationHistory")
 {
 	using xrt::auxiliary::math::RelationHistory;
-	RelationHistory rh{nullptr};
+	RelationHistory rh;
 
 	SECTION("empty buffer")
 	{